CN103376453A - Locater quick starting method in navigation system - Google Patents

Abstract

The invention discloses a locater quick starting method in a navigation system. The method comprises the following steps that a locater is electrified, a honeycomb cell ID of a current position is obtained through a communication module and is packed to be sent to a central server; the central server obtains the honeycomb cell ID by analyzing, searching is carried out on a central data base, a central longitude and latitude point of a zone matched with the current honeycomb cell ID is found; if visible star information corresponding to the central longitude and latitude point is stored in the central data base, a step 50 is carried out; otherwise, a step 40 is carried out; the step 40 is that the central server obtains the visible star information of the central longitude and latitude point in a computing mode according to a predetermined visible star information computational formula; the step 50 is that the central server sends the visible star information of the central longitude and latitude point to the locater, and the locater achieves starting. According to the scheme, the locater directly issues the visible star information and ephemeris information of visible stars to the locater or computes the visible star information and the ephemeris information of the visible stars, and cold starting speed of the locater is improved.

Description

Localization machine quick start method in the navigational system

Technical field

The present invention relates to a kind of starting method of GPS locating device, particularly localization machine quick start method in a kind of navigational system.

Background technology

At present, the gps system that to have had in the world two large global navigation satellite systems be the U.S. and Muscovite GLONASS system are just in the European Galiteo system in networking stage and the BD2 system of China.Therefore, dual system location navigation, three system's location navigations even four system's location navigations become and become just gradually possibility.The advantage that two or more systems navigate is that for a certain longitude and latitude, its visible star is more so navigation precision that provide is higher; Yet for a localization machine that coarse position information is provided, it needs data volume staged several times to be processed to increase.

In present satellite positioning method, when localization machine powers on cold start, because equipment can't be predicted the visible star of current region, therefore can only pursue satellite-signal and catch and follow the tracks of.On following the tracks of, behind the satellite-signal, also need the almanac data of all satellites is received.

China Patent No. ZL200710120047.1 discloses a kind of dual-system combined satellite navigation receiver cold start initial alignment method, the method according to punctual clock provide the reference star stop spacing from initial estimate, and according to pseudorange observation information and satellite almanac data, structure reference star stop spacing from the linear matrix equation of receiver space position relationship; Structure about two reference star stop spacings from Nonlinear System of Equations, and find the solution each rank coefficient of Nonlinear System of Equations; Using artificial neural networks to about two reference star stop spacings from Solving Nonlinear Systems of Equations, obtain more accurate reference star stop spacing from.

China Patent No. ZL200710089671.X disclose a kind of under cold start the method for searching satellite.Described method is at first searched a satellite predetermined or that choose at random as the first satellite.Then, select second satellite to be searched according to search result (" hitting " or " leakage ") and the mutual relationship between described the first satellite and other satellite of described the first satellite.Being actually provides an initial weight factor table, during searching, according to the mutual relationship between search result and the satellite described initial weight factor table is upgraded.Method provided by the present invention can shorten primary positioning time (TTFF), thereby fast cold start satellite location is provided.

In sum, all need the networking satellite in the one or more navigational system is searched for during the cold start-up of current localization machine.Along with increasing of number of satellite, localization machine needs the growth of the data volume order of magnitude to be processed, thereby causes the toggle speed of localization machine slower.

Summary of the invention

For solving the technical matters that exists in the prior art, the invention provides a kind of localization machine that makes and start fast and the high quick start method of degree of accuracy.

The present invention solves the technical matters that exists in the prior art, the technical scheme that provides is: localization machine quick start method in a kind of navigational system is provided, it is characterized in that, may further comprise the steps, step 10, localization machine powers on, and obtains the cellular cell ID of current location and cellular cell ID packing is sent to central server by communication module; Step 20, central server parse cellular cell ID, retrieve and find the center longitude point of current cellular cell ID matching area at central database; Step 30, above-mentioned center longitude point store corresponding visible star information in central database, then enter step 50; Otherwise enter step 40; Step 40, central server calculate the visible star information of above-mentioned center longitude point according to predetermined visible star information calculations formula; Step 50, central server is sent to localization machine with the visible star information of above-mentioned center longitude point, and this localization machine realizes starting.

As the preferred version of starting method of the present invention, in described step 40, predetermined visible star information calculations formula is: the rectangular space coordinate of supposing selected regional center is (Xu, Yu, Zu), longitude and latitude is (Bu, Lu), satellite is (Xzs, Yzs, Zzs) at the coordinate of topocentric coordinate system, the rectangular space coordinate of satellite is (Xs, Ys, Zs), then have

$\left[\begin{array}{c}\mathrm{Xzs}\\ \mathrm{Yzs}\\ \mathrm{Zzs}\end{array}\right]=\left[\begin{array}{ccc}-\sin \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& -\sin \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\\ -\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Lu}\right)& 0\\ \cos \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \sin \left(\mathrm{Bu}\right)\end{array}\right]*(\left[\begin{array}{c}\mathrm{Xs}\\ \mathrm{Ys}\\ \mathrm{Zs}\end{array}\right]-\left[\begin{array}{c}\mathrm{Xu}\\ \mathrm{Yu}\\ \mathrm{Zu}\end{array}\right])$

Under the heart polar coordinate system of station, wherein Es is the elevation angle of satellite on ground level, can be expressed as with (Rs, As, Es) expression satellite

$\mathrm{Es}=\mathrm{arctg}\left(\frac{\mathrm{Zzs}}{\sqrt{{\mathrm{Xzs}}^2+{\mathrm{Yzs}}^2}}\right).$

As the preferred version of starting method of the present invention, the span of described Es is at 10 °-90 °.

As the preferred version of starting method of the present invention, in described step 50, the visible star information of center longitude point comprises that also central server recommends preferred position location satellite position to current localization machine.

The present invention solves the technical matters that exists in the prior art, the present invention also provides localization machine quick start method in the another kind of navigational system, may further comprise the steps, step 10, localization machine powers on, and obtains the cellular cell ID of current location and cellular cell ID packing is sent to central server by communication module; Step 20, central server parse cellular cell ID, retrieve and find the center longitude point of current cellular cell ID matching area at central database; Step 30, above-mentioned center longitude point store corresponding visible star information in central database, then enter step 50; Otherwise enter step 35; Step 35 stores other localization machine and puts in the visible championship of this center longitude point in the memory buffer in the central server, then enter step 50; Otherwise enter step 40; Step 40, central server calculate the visible star information of above-mentioned center longitude point according to predetermined visible star information calculations formula; Step 50, central server is sent to localization machine with the visible star information of above-mentioned center longitude point, and this localization machine realizes starting.

Technical solutions according to the invention are with respect to prior art, and the beneficial effect of obtaining is:

(1) localization machine quick start method in the navigational system of the present invention according to the current cellular cell ID at localization machine place, finds this regional center longitude point in from the central database; And according to this center longitude point, server directly issues or calculates the ephemeris information of visible star information and visible star to localization machine, thereby has avoided localization machine to obtain one by one visible star information by search of satellite signals; Therefore, can greatly improve the cold start speed of localization machine; Simultaneously, because the information of current cellular cell ID is to be pre-stored in the central database, so its degree of accuracy is very high.

(2) localization machine quick start method in the navigational system of the present invention, for a certain localization machine, may be identical with its corresponding visible star information in the localization machine of adjacent area, the localization machine of adjacent area also proposed to issue the data message of visible star and was kept in the memory buffer to server, therefore directly from this memory buffer, obtain visible star information, further improved the cold start speed of localization machine.

Description of drawings

Accompanying drawing described herein is used to provide a further understanding of the present invention, consists of a part of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:

Fig. 1 is the system chart of navigational system of the present invention;

Fig. 2 is the process flow diagram of localization machine quick start method embodiment one in the navigational system of the present invention;

Fig. 3 is the process flow diagram of localization machine quick start method embodiment two in the navigational system of the present invention.

Embodiment

In order to make technical matters to be solved by this invention, technical scheme and beneficial effect clearer, clear, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.

Embodiment one

As shown in Figure 1 and Figure 2, in navigational system, need a plurality of localization machine 32, localization machine 34, localization machine 36 that the coarse position information of current location is provided or provide relevant location information to central server 20 to judge the rough position at current localization machine place.

The localization machine quick start method may further comprise the steps in the navigational system of the present invention,

Step 10, localization machine powers on, and obtains the cellular cell ID of current location and cellular cell ID packing is sent to central server 20 by communication module.

During the localization machine cold start, at first need to obtain by its inner communication module the cellular cell ID (Cell ID) of current location, simultaneously CellID data packings is sent to central server 20, centered by server 20 obtain this localization machine position and prepare.

Step 20, central server 20 parses cellular cell ID, retrieves and find the center longitude point of current cellular cell ID matching area at central database 30.

The CellID that 20 pairs of localization machine of central server are sent resolves, and will retrieve in central database 30 according to this CellID, to determine this corresponding center of Cell ID theodolite place.Should be appreciated that this CellID center corresponding with it theodolite place is pre-stored in central database 30.

Step 30, above-mentioned center longitude point store corresponding visible star information in central database 30, at this moment, can directly get access to this center longitude and put corresponding visible star information, then enter step 50; If in central database, directly do not retrieve corresponding visible star information, then enter step 40.

Step 40, central server 30 calculate the visible star information of above-mentioned center longitude point according to predetermined visible star information calculations formula.

As seen the computing formula of star information is as follows, but is not limited to this.The rectangular space coordinate of supposing selected regional center is (Xu, Yu, Zu), and longitude and latitude is (Bu, Lu), and satellite is (Xzs, Yzs, Zzs) at the coordinate of topocentric coordinate system, and the rectangular space coordinate of satellite is (Xs, Ys, Zs), then has:

$\left[\begin{array}{c}\mathrm{Xzs}\\ \mathrm{Yzs}\\ \mathrm{Zzs}\end{array}\right]=\left[\begin{array}{ccc}-\sin \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& -\sin \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\\ -\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Lu}\right)& 0\\ \cos \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \sin \left(\mathrm{Bu}\right)\end{array}\right]*(\left[\begin{array}{c}\mathrm{Xs}\\ \mathrm{Ys}\\ \mathrm{Zs}\end{array}\right]-\left[\begin{array}{c}\mathrm{Xu}\\ \mathrm{Yu}\\ \mathrm{Zu}\end{array}\right])$

Under the heart polar coordinate system of station, wherein Es is the elevation angle of satellite on ground level, can be expressed as with (Rs, As, Es) expression satellite:

$\mathrm{Es}=\mathrm{arctg}\left(\frac{\mathrm{Zzs}}{\sqrt{{\mathrm{Xzs}}^2+{\mathrm{Yzs}}^2}}\right).$

By the span of arctg as can be known, the scope of Es is at (90 °, 90 °), when Es greater than 0 the time, be visible for current longitude and latitude point.Therefore, preferably, the Es span is between 10 °-90 °.

Step 50, central server 20 is sent to localization machine with the visible star information of above-mentioned center longitude point, and this localization machine realizes starting.

Central server 20 is directly obtained visible star information in 30 from the central database, perhaps calculates visible star information by computing formula.Preferably, the visible star information of center longitude point comprises that also central server 20 recommends preferred position location satellite position to current localization machine.Thereby localization machine directly searches the signal of this preferred satellite targetedly.

In sum, localization machine does not need one by one removal search satellite-signal, to determine the information of visible star, but directly obtain the visible star information that is pre-stored in the central database 30, yet the visible star signal of removal search localization machine position has targetedly improved the cold start speed of localization machine greatly; Simultaneously, because the visible star information in the database is through meticulous layout, its degree of accuracy is very high.

Embodiment two

As shown in Figure 2, localization machine quick start method embodiment two of the present invention is with the difference of embodiment one, in above-mentioned steps 30, if can not directly obtain the visible star information of localization machine position in the central database 30, and directly do not enter in the step 40, calculate visible star information by computing formula, but enter step 35, go first to search in the memory buffer of central server 20 is to stagnate to store other localization machine and put in the visible championship of this center longitude point, if exist, then directly obtain the visible star information of this localization machine position from memory buffer, further improved the toggle speed of localization machine.

Therefore, present embodiment is consistent to step 30 with the step 10 of embodiment one, does not tire out at this and states.

Step 30, above-mentioned center longitude point store corresponding visible star information in central database, then enter step 50; Otherwise enter step 35;

Step 35 stores other localization machine and puts in the visible championship of this center longitude point in the memory buffer in the central server, then enter step 50; Otherwise enter step 40;

Step 40, central server calculate the visible star information of above-mentioned center longitude point according to predetermined visible star information calculations formula;

Step 50, central server is sent to localization machine with the visible star information of above-mentioned center longitude point, and this localization machine realizes starting.

Above-mentioned explanation illustrates and has described the preferred embodiments of the present invention, as previously mentioned, be to be understood that the present invention is not limited to the disclosed form of this paper, should not regard the eliminating to other embodiment as, and can be used for various other combinations, modification and environment, and can in invention contemplated scope described herein, change by technology or the knowledge of above-mentioned instruction or association area.And the change that those skilled in the art carry out and variation do not break away from the spirit and scope of the present invention, then all should be in the protection domain of claims of the present invention.

Claims (8)

1. localization machine quick start method in the navigational system is characterized in that, may further comprise the steps,

Step 10, localization machine powers on, and obtains the cellular cell ID of current location and cellular cell ID packing is sent to central server by communication module;

Step 20, central server parse cellular cell ID, retrieve and find the center longitude point of current cellular cell ID matching area at central database;

Step 30, above-mentioned center longitude point store corresponding visible star information in central database, then enter step 50; Otherwise enter step 40;

Step 40, central server calculate the visible star information of above-mentioned center longitude point according to predetermined visible star information calculations formula;

Step 50, central server is sent to localization machine with the visible star information of above-mentioned center longitude point, and this localization machine realizes starting.

2. localization machine quick start method in the navigational system according to claim 1 is characterized in that, in described step 40, predetermined visible star information calculations formula is: the rectangular space coordinate of supposing selected regional center is (Xu, Yu, Zu), longitude and latitude is (Bu, Lu), and satellite is (Xzs at the coordinate of topocentric coordinate system, Yzs, Zzs), the rectangular space coordinate of satellite is (Xs, Ys, Zs), then have

$\left[\begin{array}{c}\mathrm{Xzs}\\ \mathrm{Yzs}\\ \mathrm{Zzs}\end{array}\right]=\left[\begin{array}{ccc}-\sin \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& -\sin \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\\ -\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Lu}\right)& 0\\ \cos \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \sin \left(\mathrm{Bu}\right)\end{array}\right]*(\left[\begin{array}{c}\mathrm{Xs}\\ \mathrm{Ys}\\ \mathrm{Zs}\end{array}\right]-\left[\begin{array}{c}\mathrm{Xu}\\ \mathrm{Yu}\\ \mathrm{Zu}\end{array}\right])$

Under the heart polar coordinate system of station, wherein Es is the elevation angle of satellite on ground level, can be expressed as with (Rs, As, Es) expression satellite

$\mathrm{Es}=\mathrm{arctg}\left(\frac{\mathrm{Zzs}}{\sqrt{{\mathrm{Xzs}}^2+{\mathrm{Yzs}}^2}}\right).$

3. localization machine quick start method in the navigational system according to claim 2 is characterized in that, the span of described Es is at 10 °-90 °.

4. localization machine quick start method in the navigational system according to claim 1 is characterized in that, in described step 50, the visible star information of center longitude point comprises that also central server recommends preferred position location satellite position to current localization machine.

5. localization machine quick start method in the navigational system is characterized in that, may further comprise the steps,

Step 10, localization machine powers on, and obtains the cellular cell ID of current location and cellular cell ID packing is sent to central server by communication module;

Step 20, central server parse cellular cell ID, retrieve and find the center longitude point of current cellular cell ID matching area at central database;

Step 30, above-mentioned center longitude point store corresponding visible star information in central database, then enter step 50; Otherwise enter step 35;

Step 35 stores other localization machine and puts in the visible championship of this center longitude point in the memory buffer in the central server, then enter step 50; Otherwise enter step 40;

Step 40, central server calculate the visible star information of above-mentioned center longitude point according to predetermined visible star information calculations formula;

Step 50, central server is sent to localization machine with the visible star information of above-mentioned center longitude point, and this localization machine realizes starting.

6. localization machine quick start method in the navigational system according to claim 5 is characterized in that, in described step 40, predetermined visible star information calculations formula is: the rectangular space coordinate of supposing selected regional center is (Xu, Yu, Zu), longitude and latitude is (Bu, Lu), and satellite is (Xzs at the coordinate of topocentric coordinate system, Yzs, Zzs), the rectangular space coordinate of satellite is (Xs, Ys, Zs), then have

$\left[\begin{array}{c}\mathrm{Xzs}\\ \mathrm{Yzs}\\ \mathrm{Zzs}\end{array}\right]=\left[\begin{array}{ccc}-\sin \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& -\sin \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\\ -\sin \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Lu}\right)& 0\\ \cos \left(\mathrm{Bu}\right)\cos \left(\mathrm{Lu}\right)& \cos \left(\mathrm{Bu}\right)\sin \left(\mathrm{Lu}\right)& \sin \left(\mathrm{Bu}\right)\end{array}\right]*(\left[\begin{array}{c}\mathrm{Xs}\\ \mathrm{Ys}\\ \mathrm{Zs}\end{array}\right]-\left[\begin{array}{c}\mathrm{Xu}\\ \mathrm{Yu}\\ \mathrm{Zu}\end{array}\right])$

Under the heart polar coordinate system of station, wherein Es is the elevation angle of satellite on ground level, can be expressed as with (Rs, As, Es) expression satellite

$\mathrm{Es}=\mathrm{arctg}\left(\frac{\mathrm{Zzs}}{\sqrt{{\mathrm{Xzs}}^2+{\mathrm{Yzs}}^2}}\right).$

7. localization machine quick start method in the navigational system according to claim 6 is characterized in that, the span of described Es is at 10 °-90 °.

8. localization machine quick start method in the navigational system according to claim 5 is characterized in that, in described step 50, the visible star information of center longitude point comprises that also central server recommends preferred position location satellite position to current localization machine.

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